blob: 7598d8ae7d1cbfb1241895665f39c9dd19db1d26 [file] [log] [blame]
/*
FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel.
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details. You should have received a copy of the GNU General Public License
and the FreeRTOS license exception along with FreeRTOS; if not it can be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
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including FreeRTOS+Trace - an indispensable productivity tool, and our new
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Integrity Systems, who sell the code with commercial support,
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the standard demo application tasks.
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Check" task - This only executes every five seconds but has a high priority
* to ensure it gets processor time. Its main function is to check that all the
* standard demo tasks are still operational. While no errors have been
* discovered the check task will toggle an LED every 5 seconds - the toggle
* rate increasing to 500ms being a visual indication that at least one task has
* reported unexpected behaviour.
*
* "Reg test" tasks - These fill the registers with known values, then check
* that each register still contains its expected value. Each task uses
* different values. The tasks run with very low priority so get preempted very
* frequently. A register containing an unexpected value is indicative of an
* error in the context switching mechanism.
*
*/
/* Standard includes. */
#include <stdio.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"
#include "comtest2.h"
/*-----------------------------------------------------------*/
/* The time between cycles of the 'check' functionality - as described at the
top of this file. */
#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
/* The rate at which the LED controlled by the 'check' task will flash should an
error have been detected. */
#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
/* The LED controlled by the 'check' task. */
#define mainCHECK_LED ( 3 )
/* ComTest constants - there is no free LED for the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
#define mainCOM_TEST_LED ( 5 )
/* Task priorities. */
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
/*
* Configure the hardware for the demo.
*/
static void prvSetupHardware( void );
/*
* Implements the 'check' task functionality as described at the top of this
* file.
*/
static void prvCheckTask( void *pvParameters );
/*
* Implement the 'Reg test' functionality as described at the top of this file.
*/
static void vRegTest1Task( void *pvParameters );
static void vRegTest2Task( void *pvParameters );
/*-----------------------------------------------------------*/
/* Counters used to detect errors within the reg test tasks. */
static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
/*-----------------------------------------------------------*/
int main( void )
{
/* Setup the hardware ready for this demo. */
prvSetupHardware();
/* Start the standard demo tasks. */
vStartLEDFlashTasks( tskIDLE_PRIORITY );
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
vStartInterruptQueueTasks();
/* Start the reg test tasks - defined in this file. */
xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
/* Create the check task. */
xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* The suicide tasks must be created last as they need to know how many
tasks were running prior to their creation in order to ascertain whether
or not the correct/expected number of tasks are running at any given time. */
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvCheckTask( void *pvParameters )
{
unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
portTickType xLastExecutionTime;
( void ) pvParameters;
/* Initialise the variable used to control our iteration rate prior to
its first use. */
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Wait until it is time to run the tests again. */
vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulError |= 0x01UL;
}
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulError |= 0x02UL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulError |= 0x04UL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulError |= 0x20UL;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
ulError |= 0x40UL;
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
ulError |= 0x80UL;
}
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
ulError |= 0x100UL;
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulError |= 0x200UL;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
ulError |= 0x400UL;
}
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulError |= 0x800UL;
}
if( ulLastRegTest1Count == ulRegTest1Counter )
{
ulError |= 0x1000UL;
}
if( ulLastRegTest2Count == ulRegTest2Counter )
{
ulError |= 0x1000UL;
}
ulLastRegTest1Count = ulRegTest1Counter;
ulLastRegTest2Count = ulRegTest2Counter;
/* If an error has been found then increase our cycle rate, and in so
going increase the rate at which the check task LED toggles. */
if( ulError != 0 )
{
ulTicksToWait = mainERROR_PERIOD;
}
/* Toggle the LED each itteration. */
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
void prvSetupHardware( void )
{
extern void mcf5xxx_wr_cacr( unsigned portLONG );
portDISABLE_INTERRUPTS();
/* Enable the cache. */
mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
asm volatile( "NOP" ); /* As per errata. */
/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );
/* Wait for PLL to lock. */
while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
{
__asm__ volatile ( "NOP" );
}
/* Setup the port used to toggle LEDs. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
/* This will get called if a stack overflow is detected during the context
switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
problems within nested interrupts, but only do this for debug purposes as
it will increase the context switch time. */
( void ) pxTask;
( void ) pcTaskName;
for( ;; );
}
/*-----------------------------------------------------------*/
static void vRegTest1Task( void *pvParameters )
{
/* Sanity check - did we receive the parameter expected? */
if( pvParameters != &ulRegTest1Counter )
{
/* Change here so the check task can detect that an error occurred. */
for( ;; );
}
/* Set all the registers to known values, then check that each retains its
expected value - as described at the top of this file. If an error is
found then the loop counter will no longer be incremented allowing the check
task to recognise the error. */
asm volatile ( "reg_test_1_start: \n\t"
" moveq #1, %d0 \n\t"
" moveq #2, %d1 \n\t"
" moveq #3, %d2 \n\t"
" moveq #4, %d3 \n\t"
" moveq #5, %d4 \n\t"
" moveq #6, %d5 \n\t"
" moveq #7, %d6 \n\t"
" moveq #8, %d7 \n\t"
" move #9, %a0 \n\t"
" move #10, %a1 \n\t"
" move #11, %a2 \n\t"
" move #12, %a3 \n\t"
" move #13, %a4 \n\t"
" move #14, %a5 \n\t"
" move #15, %a6 \n\t"
" \n\t"
" cmpi.l #1, %d0 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #2, %d1 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #3, %d2 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #4, %d3 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #5, %d4 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #6, %d5 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #7, %d6 \n\t"
" bne reg_test_1_error \n\t"
" cmpi.l #8, %d7 \n\t"
" bne reg_test_1_error \n\t"
" move %a0, %d0 \n\t"
" cmpi.l #9, %d0 \n\t"
" bne reg_test_1_error \n\t"
" move %a1, %d0 \n\t"
" cmpi.l #10, %d0 \n\t"
" bne reg_test_1_error \n\t"
" move %a2, %d0 \n\t"
" cmpi.l #11, %d0 \n\t"
" bne reg_test_1_error \n\t"
" move %a3, %d0 \n\t"
" cmpi.l #12, %d0 \n\t"
" bne reg_test_1_error \n\t"
" move %a4, %d0 \n\t"
" cmpi.l #13, %d0 \n\t"
" bne reg_test_1_error \n\t"
" move %a5, %d0 \n\t"
" cmpi.l #14, %d0 \n\t"
" bne reg_test_1_error \n\t"
" move %a6, %d0 \n\t"
" cmpi.l #15, %d0 \n\t"
" bne reg_test_1_error \n\t"
" movel ulRegTest1Counter, %d0 \n\t"
" addql #1, %d0 \n\t"
" movel %d0, ulRegTest1Counter \n\t"
" bra reg_test_1_start \n\t"
"reg_test_1_error: \n\t"
" bra reg_test_1_error \n\t"
);
}
/*-----------------------------------------------------------*/
static void vRegTest2Task( void *pvParameters )
{
/* Sanity check - did we receive the parameter expected? */
if( pvParameters != &ulRegTest2Counter )
{
/* Change here so the check task can detect that an error occurred. */
for( ;; );
}
/* Set all the registers to known values, then check that each retains its
expected value - as described at the top of this file. If an error is
found then the loop counter will no longer be incremented allowing the check
task to recognise the error. */
asm volatile ( "reg_test_2_start: \n\t"
" moveq #10, %d0 \n\t"
" moveq #20, %d1 \n\t"
" moveq #30, %d2 \n\t"
" moveq #40, %d3 \n\t"
" moveq #50, %d4 \n\t"
" moveq #60, %d5 \n\t"
" moveq #70, %d6 \n\t"
" moveq #80, %d7 \n\t"
" move #90, %a0 \n\t"
" move #100, %a1 \n\t"
" move #110, %a2 \n\t"
" move #120, %a3 \n\t"
" move #130, %a4 \n\t"
" move #140, %a5 \n\t"
" move #150, %a6 \n\t"
" \n\t"
" cmpi.l #10, %d0 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #20, %d1 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #30, %d2 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #40, %d3 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #50, %d4 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #60, %d5 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #70, %d6 \n\t"
" bne reg_test_2_error \n\t"
" cmpi.l #80, %d7 \n\t"
" bne reg_test_2_error \n\t"
" move %a0, %d0 \n\t"
" cmpi.l #90, %d0 \n\t"
" bne reg_test_2_error \n\t"
" move %a1, %d0 \n\t"
" cmpi.l #100, %d0 \n\t"
" bne reg_test_2_error \n\t"
" move %a2, %d0 \n\t"
" cmpi.l #110, %d0 \n\t"
" bne reg_test_2_error \n\t"
" move %a3, %d0 \n\t"
" cmpi.l #120, %d0 \n\t"
" bne reg_test_2_error \n\t"
" move %a4, %d0 \n\t"
" cmpi.l #130, %d0 \n\t"
" bne reg_test_2_error \n\t"
" move %a5, %d0 \n\t"
" cmpi.l #140, %d0 \n\t"
" bne reg_test_2_error \n\t"
" move %a6, %d0 \n\t"
" cmpi.l #150, %d0 \n\t"
" bne reg_test_2_error \n\t"
" movel ulRegTest1Counter, %d0 \n\t"
" addql #1, %d0 \n\t"
" movel %d0, ulRegTest2Counter \n\t"
" bra reg_test_2_start \n\t"
"reg_test_2_error: \n\t"
" bra reg_test_2_error \n\t"
);
}
/*-----------------------------------------------------------*/